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Avoid controller-spawner hanging on shutdown until SIGKILL
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@marcoesposito1988
marcoesposito1988 committed Jan 19, 2017
1 parent 464d48c commit 2eb862c
Showing 1 changed file with 2 additions and 2 deletions.
4 changes: 2 additions & 2 deletions single_lwr_example/single_lwr_launch/launch/single_lwr.launch
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Expand Up @@ -100,9 +100,9 @@
</group>

<!-- spawn only desired controllers in current namespace -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller arm_state_controller $(arg controllers)"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller arm_state_controller $(arg controllers) --shutdown-timeout 2"/>

<node name="controller_stopper" pkg="controller_manager" type="spawner" args="--stopped $(arg stopped_controllers)" />
<node name="controller_stopper" pkg="controller_manager" type="spawner" args="--stopped $(arg stopped_controllers) --shutdown-timeout 2" />

</group>

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